EP3670747B1 - Engin de construction autonome et procédé d'usinage d'un revêtement de sol - Google Patents

Engin de construction autonome et procédé d'usinage d'un revêtement de sol Download PDF

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Publication number
EP3670747B1
EP3670747B1 EP19204232.3A EP19204232A EP3670747B1 EP 3670747 B1 EP3670747 B1 EP 3670747B1 EP 19204232 A EP19204232 A EP 19204232A EP 3670747 B1 EP3670747 B1 EP 3670747B1
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EP
European Patent Office
Prior art keywords
milling
measuring device
drum
control device
milled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19204232.3A
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German (de)
English (en)
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EP3670747C0 (fr
EP3670747A1 (fr
Inventor
Christian Berning
Hanjo Held
René Müller
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Wirtgen GmbH
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Wirtgen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wirtgen GmbH filed Critical Wirtgen GmbH
Priority to EP23214375.0A priority Critical patent/EP4345212A3/fr
Publication of EP3670747A1 publication Critical patent/EP3670747A1/fr
Application granted granted Critical
Publication of EP3670747B1 publication Critical patent/EP3670747B1/fr
Publication of EP3670747C0 publication Critical patent/EP3670747C0/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/12—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
    • E01C23/122—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
    • E01C23/127—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/18—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by milling, e.g. channelling by means of milling tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/09—Construction vehicles, e.g. graders, excavators
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
    • E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
    • E21C25/10—Rods; Drums
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/18—Measuring arrangements characterised by the use of mechanical techniques for measuring depth

Definitions

  • the invention relates to a self-propelled construction machine according to claim 1, and a method for processing a floor covering according to claim 12.
  • Construction machines in particular road milling machines or surface miners, are known for processing a floor covering, which have a milling drum that is mounted in a machine frame, the milling drum having a first and a second end face. When milling the floor covering with the milling drum, a milling mark is created.
  • These construction machines usually have at least one first measuring device, which is arranged next to the first end face of the milling drum and measures the distance of the machine frame next to the first end face of the milling drum relative to the floor covering and has at least one second measuring device, which is arranged next to the second end face of the milling drum and measures the distance of the machine frame next to the second end face of the milling drum relative to the floor covering.
  • a control device for controlling the milling depth is usually provided, with the control device determining the milling depth in a first milling operation with the aid of measurements from the first and second measuring devices.
  • DE 10 2012 100 934 A1 discloses a road milling machine control for a road milling machine of the type that mills a road surface which the road milling machine moves, with several sensors being provided.
  • the EP 2 722 441 A1 describes a self-propelled construction machine, in particular a road milling machine, which has a machine frame and a chassis that has at least one steerable front drive, at least one rear drive on the left in the working direction and at least one rear drive on the right in the working direction, with a control unit for controlling a device is intended for raising or lowering the drives for height adjustment of the drives,
  • the object of the present invention is therefore to improve the reliability of the milling depth measurement.
  • control device (40) is designed in such a way that a second milling operation can be detected by means of the control device, in which the milling drum is placed on a milling track that has not yet been milled, which is arranged next to an already milled milling track, wherein the control device is designed such that as soon as the second milling operation is detected, the control device (40) uses measurements of at least a third measuring device instead of the first and / or the second measuring device to determine the milling depth, the control device (40) being designed to check, whether the construction machine (1) mills again in the first milling operation after the second milling operation, and that the control device (40) is designed such that as soon as the renewed milling in the first milling operation is detected, the milling depth is determined again using measurements of the first and second milling operations second measuring device (30, 32), wherein the control device (40) is designed to check the time and / or the distance traveled by the construction machine (1) to determine the renewed milling in the first milling operation and with a
  • the specified distance can be, for example, 1.5 m.
  • the present invention has the advantage that the milling depth can be determined more precisely, particularly in a second milling operation in which the milling drum is placed on a milling track that has not yet been milled and which is arranged next to an already milled milling track.
  • measuring devices are often used as the first and second measuring devices, one of which, in this milling operation, is arranged both above the unmilled milling track and above the already milled milling track.
  • the milling depth cannot therefore be determined with sufficient accuracy using one of these measuring devices.
  • the milling depth measurement can be improved by not using this first or second measuring device, which cannot correctly determine the milling depth, but rather a third measuring device.
  • the first or second measuring device can be arranged, for example, on a beam that rests on the ground next to the milling drum and measures the distance between the machine frame and the floor covering.
  • several distance sensors arranged one behind the other in the direction of travel can be provided on each side of the construction machine, for example in the EP 0 547 378 A1 is described.
  • the invention also includes the case that the not yet milled milling track on which the milling roller is placed, which is arranged next to an already milled milling track, may have already been milled in a previous operation.
  • the floor covering can be milled in several steps. When milling the floor covering in two operations, a first floor covering layer is first milled off in a first operation, for example in several milling tracks. Afterwards, in a second operation, a further floor covering layer, which is arranged below the first floor covering layer, is also milled off in several milling tracks.
  • a first side shield can also be arranged on the first end face of the milling drum as a first edge protection and on the second end face of the milling drum a second side shield can be arranged as a second edge protection, with the first and that The second side plate can be adjusted in height relative to the machine frame and rests on the floor covering next to the milling drum.
  • the at least one first measuring device can be arranged on the first side plate and the at least one second measuring device can be arranged on the second side plate, which each measure the height adjustment of the first and second side plates relative to the machine frame and thus measure the distance of the machine frame relative to the floor covering.
  • the first side plate can also be part of the first measuring device and the second side plate can also be part of the second measuring device.
  • the first and second measuring devices can each have at least one sensor.
  • the at least one sensor can be a sensor that detects the adjustment of the side plate relative to the machine frame.
  • the at least one sensor can be, for example, a cable pull sensor, but alternatively the adjustment of the side plate relative to the machine frame can also be detected by other tactile or non-contact sensors (e.g. ultrasonic sensor). In these cases, the side plate would be part of the measuring device.
  • a sensor arranged on the machine frame can also directly measure the distance to the floor covering.
  • the respective side plate would not be part of the measuring device.
  • the control device can evaluate the measured and/or the predetermined values of the first and/or the second measuring device.
  • the measured and/or the predetermined values of the first and/or the second measuring device can, for example, be compared with stored reference values.
  • the measured values can also be referred to as actual values and the specified values can also be referred to as target values.
  • the control device can form the difference between the predetermined and the measured values of the first and / or second measuring device and with a compare the specified reference value.
  • the reference value can be determined through previous tests.
  • the floor covering to be milled for example a road
  • a milling depth of zero is specified on the side that is on the milled floor covering, and a milling depth corresponding to the target value, i.e. the target milling depth, is specified on the other side.
  • a measuring device rests on a milling track that has already been milled, this measuring device measures a milling depth of almost or equal to zero. If the measuring device lies on the unmilled floor covering, this measuring device would measure the target value or almost the target value. Particularly when setting up, i.e. at the beginning of the second milling track, it can happen that the measuring device is arranged on the side which scans the already milled surface in the further milling process, both above the milled floor covering and above the non-milled floor covering, and therefore neither can correctly determine the distance to the milled floor covering nor correctly determine the distance to the unmilled floor covering.
  • the measured value is then between zero and the target value. Near zero means that the value is close to zero, preferably deviates from zero by a maximum of +/- 1.5 cm. A measured value that should be close to the target value preferably deviates from the target value by a maximum of +/- 1.5 cm.
  • the first or second measuring device in which the predetermined value for the milling depth, i.e. the target value is almost or equal to zero, has a measured value for the milling depth, i.e. an actual value, between zero and the target value other of the first or second measuring device, the value preferably being greater than 1.5 cm. It is clear that with a greater milling depth, the milling drum is lowered further. A larger value for the milling depth means a deeper cut.
  • the first measuring device can have at least two sensors and the second measuring device can also have at least two sensors, each of which is arranged one behind the other in the direction of travel, the control device for detecting the second milling operation using the measured and/or the predetermined values of the at least two sensors of the first and/or or can evaluate the measured and/or the predetermined values of the at least two sensors of the second measuring device.
  • the difference between the values of the respective two sensors can be formed and compared with a reference value. In this way, the second milling operation can be detected.
  • the respective sensors can measure the distance of the machine frame relative to the floor covering.
  • the first side plate can also be part of the first measuring device and the second side plate can also be part of the second measuring device.
  • the at least two sensors per measuring device can be sensors that detect the adjustment of the side plate relative to the machine frame.
  • the at least two sensors per measuring device can be, for example, cable pull sensors.
  • the adjustment of the side plate relative to the machine frame can also be done using other tactile or non-contact methods Sensors (e.g. ultrasonic sensor) are detected. In these cases, the side plate would be part of the measuring device.
  • the at least two sensors per measuring device can also be sensors arranged on the machine frame that directly measure the distance to the floor covering.
  • the respective side plate is not part of the measuring device.
  • the control device can use GPS data to check whether the second milling operation is taking place, the control device being able to compare at least the current GPS data of the construction machine with stored GPS data of milling tracks that have already been milled.
  • a profile detection sensor can be arranged on the machine frame, which detects the profile of the ground surface in the direction of travel in front of the milling drum, with the control device being able to determine with the aid of the profile detection sensor whether the second milling operation is taking place.
  • a marking can also be made when starting in the first track.
  • This marking e.g. an RFID chip
  • This marking can then be used when positioning in the second track to detect the second milling operation.
  • the at least one third measuring device can measure the transverse inclination of the machine frame.
  • the milling depth is regulated in the second milling operation on the one hand by one of the first and second measuring devices and on the other hand by the third measuring device, the milling depth being regulated on one end face of the milling drum using the first or second measuring device and the milling depth being regulated on the other Side is done by monitoring the cross slope.
  • the transverse slope is preferably kept constant.
  • the transverse slope can be measured absolutely, ie in relation to the center of the earth, or preferably relative to the unmilled or milled floor covering.
  • the at least one third measuring device can be arranged on a scraper which is arranged behind the milling drum in the direction of travel, is height-adjustable and rests on the ground surface milled by the milling drum.
  • the scraper thus engages in the milling track created by the milling drum and removes the base of the milling track so that there is no longer any milled material in the milling track behind the scraper.
  • the wiper can also be part of the third measuring device.
  • the third measuring device can have at least one sensor arranged on the machine frame, which detects the adjustment of the wiper relative to the machine frame.
  • the at least one sensor can also measure the distance between the machine frame and the ground surface itself.
  • the wiper is not part of the measuring device.
  • the third measuring device can have at least two sensors which are arranged on the wiper and which are arranged next to one another in a plane running orthogonally to the direction of travel.
  • the respective sensors can measure the distance of the machine frame relative to the floor covering.
  • the at least two sensors can be sensors that detect the adjustment of the wiper relative to the machine frame.
  • the at least two sensors can be cable pull sensors, for example.
  • the adjustment of the wiper relative to the machine frame can also be detected by other tactile or non-contact sensors (e.g. ultrasonic sensor). In these cases the wiper would be part of the third measuring device.
  • the at least two sensors can also be sensors arranged on the machine frame that directly measure the distance to the floor covering. These sensors can also be arranged next to each other in a plane running orthogonally to the direction of travel.
  • the construction machine can have at least three driving devices, which can be height-adjustable relative to the machine frame.
  • driving devices For height adjustment, lifting columns can be provided, with the help of which the machine frame can be moved relative to The driving devices can be adjusted and therefore height-adjustable. In this way, the height of the milling drum mounted on the machine frame can be adjusted.
  • the adjustments of the lifting columns of the chassis relative to the floor covering can also be used as measurements for the third measuring device.
  • the transverse and/or longitudinal inclination of the construction machine is preferably kept constant.
  • the control device can check whether the first or the second measuring device is arranged closer to the milling track that has already been milled and then the second milling operation uses the measurements of the third measuring device and the measuring device that is further away to determine the milling depth from the already milled milling track.
  • the control device can determine which of the first and second measuring devices for which a target value of zero or almost zero is set and then use the third measuring device and the other of the first and second measuring devices in the second milling operation.
  • the predetermined and measured values of the first and second measuring devices can be used.
  • a profile detection sensor can also be provided, which can be arranged on the machine frame, which detects the profile of the ground surface in the direction of travel in front of the milling drum.
  • GPS data can be used, whereby the control device can compare the current GPS data of the construction machine with stored GPS data on milling tracks that have already been milled.
  • the measured and/or the predetermined values of the first and/or the second measuring device can be evaluated.
  • the measured and/or the predetermined values of the first and/or the second measuring device can be compared with stored reference values
  • the difference between the predetermined and the measured values of the first and / or second measuring device can be formed and with a specified reference value can be compared.
  • the reference value can be determined using tests.
  • the first or second measuring device in which the predetermined value for the milling depth, i.e. the target value, is almost or equal to zero, has a measured value for the milling depth, i.e. an actual value, between zero and the target value the other of the first or second measuring device, the value preferably being greater than 1.5 cm.
  • GPS data can also be used to check whether the construction machine is milling in the second milling operation, with at least the current GPS data of the construction machine being able to compare milling tracks that have already been milled with stored GPS data.
  • the profile of the ground surface in the direction of travel in front of the milling drum can also be detected, with the help of the profile of the ground surface in the direction of travel in front of the milling drum being able to determine whether the construction machine is milling in the second milling operation.
  • Fig. 1 shows a self-propelled construction machine 1 for processing a floor covering 20.
  • the construction machine 1 has a machine frame 2 and at least three driving devices 12, 14. However, the construction machine can also have four driving devices 12, 14, as shown in the exemplary embodiment shown.
  • the driving devices 12, 14 can be wheels or tracked units.
  • At least two driving devices 12, 14 can be height-adjustable.
  • all four driving devices 12, 14 are height-adjustable.
  • lifting columns 16, 18 are provided, with the help of which the machine frame 2 can be adjusted relative to the driving devices 12, 14 and can therefore be adjusted in height. In this way, the height of the milling drum 10 mounted on the machine frame 2 can be adjusted.
  • the construction machine 1 has a control device 40, which is described in more detail below.
  • Fig. 2 shows a top view of a floor covering 20 and a schematically shown milling drum 10 with side plates 4, 6 and scrapers 8.
  • the floor covering 20 is both the already milled floor covering 22 and the as yet unmilled floor covering 24.
  • the milling drum 10 is, as already mentioned Fig. 1 described, stored in the machine frame 2.
  • a milling track 42 is created. This can Fig. 2 be removed.
  • the milling track 42 has a width B which corresponds to the width B of the milling drum 10.
  • the milling track 42 is the track that is created by milling with the milling drum.
  • the milling drum 10 has a first end face 11 and a second end face 13.
  • At least one first measuring device 30 is provided, which is arranged next to the first end face 11 of the milling drum 10 and measures the distance of the machine frame 2 next to the first end face 11 of the milling drum 10 relative to the floor covering 20, the floor covering 20 being the already milled floor covering 22 or the floor covering that has not yet been milled can be 24.
  • At least one second measuring device 32 provided, which is arranged next to the second end face 13 of the milling drum 10 and measures the distance of the machine frame 2 next to the second end face 13 of the milling drum relative to the floor covering 20, the floor covering 20 being the already milled floor covering 22 or the floor covering that has not yet been milled can be 24.
  • the measuring devices 30, 32 shown measure the height adjustment of the side plates 4, 6 relative to the machine frame 2.
  • the side plates 4, 6 preferably rest on the floor covering 20. Because the milling drum 10 is mounted in the machine frame 2, the adjustment of the side plates 4, 6 relative to the machine frame 2 can be used to determine the distance between the machine frame 2 and the floor covering 20.
  • the measuring devices 30, 32 can be sensors attached to the side plates 4, 6. For example, cable pull sensors can be attached to the respective side plate 4, 6, which measure the adjustment of the respective side plate 4, 6. Alternatively, other sensors can also be provided which measure the adjustment of the respective side plate 4, 6.
  • the side plates 4, 6 are preferably part of the first or second measuring device 30, 32.
  • the first and/or second measuring device can also not be arranged on the side plates 4, 6.
  • any other sensing device can also be used as the first and/or second measuring device.
  • a bar can be arranged next to the respective end face 11, 13 of the milling drum 10, with the help of which the distance from the machine frame 2 to the floor covering 20 can be measured.
  • the construction machine has a longitudinal direction, which runs in the direction of travel, and a transverse direction, which runs orthogonal to this.
  • the term next to the respective end face means in the transverse direction next to a plane which runs through the respective end face, whereby the measuring device can also be arranged at least partially in the transverse direction next to the end face, but can also be arranged in the longitudinal direction in front of or behind the milling drum can.
  • the control device 40 described above is provided for controlling the milling depth, with the control device 40 controlling the milling depth in a first milling operation determined with the help of measurements from the first and second measuring devices 30, 32.
  • Fig. 2 the milling drum is placed in a milling track that has not yet been milled, which is arranged next to an already milled milling track 42.
  • a second milling operation can be detected, in which the milling drum 10 is placed on a milling track that has not yet been milled, which is arranged next to an already milled milling track 42, the control device 40, as soon as the second milling operation is detected, to determine the Milling depth instead of the first and / or the second measuring device 30, 32 measurements at least a third measuring device 34 is used.
  • the milling drum 10 has a side plate 4 designed as an edge protection on the first end face 11. Furthermore, the milling drum 10 has a side plate 6, which is also designed as edge protection, on the second end face 13.
  • a scraper 8 is arranged, which rests on the floor covering milled with the milling drum 10. In Figure 2 the scraper 8 rests on the floor covering 24 that has not yet been milled, since the milling drum has not yet milled the floor covering 20 and the milling drum is placed on a new milling track.
  • the first measuring device 30 is arranged on the side plate 4.
  • the second measuring device 32 is arranged on the second side plate 6.
  • the third measuring device 34 is arranged on the scraper 8.
  • the side plate 4 is arranged partly above the unmilled floor covering 24 and partly above the milled floor covering 22.
  • Fig. 3 the side view of the side plate 4 is shown schematically.
  • the milling drum 10 is shown in dashed lines.
  • the side plate 4 is inclined in that it is arranged partly above the milled floor covering 22 and partly above the unmilled floor covering 24. Since the measuring device 30 is arranged on the edge protection and this is tilted, the measuring device cannot correctly determine the distance between the machine frame 2 and the milled one Measure floor covering 22 to the unmilled floor covering 24. Even if the measuring device is arranged on another element next to the end face of the milling drum 10, the same problem occurs.
  • the control device 40 detects this second milling operation and uses the measuring device 34 instead of the first measuring device 30.
  • the milling depth can be determined much more precisely.
  • the milling depth is also indicated by reference number 50.
  • control device 40 can evaluate the measured and/or the predetermined values of the first and/or second measuring device.
  • the measured and/or specified values can be compared with reference values.
  • the difference between the predetermined and measured values of the respective measuring device 30, 32 can be formed and compared with predetermined reference values.
  • the specified reference values can be determined and saved beforehand using test examples.
  • the second milling operation for example, it can first be determined on which side the already milled milling track 42 is arranged. This can be done by checking the specified values or target milling values. On the side where the target value is zero or almost zero, the milling track has already been milled.
  • the setpoint on the right side of the exemplary embodiment can be according to Fig. 4 be zero.
  • the setpoint on the left side in the direction of travel 26 is greater than zero in this case and the actual value on the left side in the direction of travel 26 is equal to the setpoint or almost corresponds to the setpoint.
  • measurements from at least the third measuring device 34 are used instead of the first measuring device 30 to determine the milling depth.
  • the first and/or second measuring devices 30, 32 can each have two sensors on the side plates 4, 6.
  • the measuring device 30 has two sensors 30A and 30B on the side plate 4.
  • the second measuring device 32 can also have two sensors 32A and 32B on the side plate 6.
  • the exemplary embodiment is shown with two sensors 30A and 30B, whereas in Fig. 2 only the measuring device 30 has only one sensor. Otherwise, the exemplary embodiment corresponds to Fig. 3 but according to the exemplary embodiment Fig. 2 .
  • the two sensors 30A, 30B or 32A and 32B are arranged one behind the other in the direction of travel. In this way, the inclination of the respective side plate 4, 6 can be determined using the sensors 30A and 30B or 32A and 32B. If the inclination of the side plate 4, 6 has a predetermined value, for example a predetermined angular position relative to the machine frame 2, it can be determined that the second milling operation is taking place. It can also be determined that the second milling operation occurs when the measured values of the sensors 30A (32A) deviate from the measured values of the sensors 30B (32B) by a value that is greater than a reference value. In this case too, the control device 40 can use the third measuring device 34 instead of the measuring device 30, which has the two sensors 30A and 30B.
  • GPS data from the previous milling process can also be used. In this way, it can be determined at which points there are already milled milling tracks and whether an already milled milling track is arranged next to the not yet milled milling track.
  • the milling tracks milled so far can be stored in the database based on the GPS signals and can be constantly updated.
  • a profile detection sensor 60 can also be arranged on the machine frame in front of the milling drum 10, which detects the cross-sectional profile of the floor covering 20 in front of the milling drum. In this way it can also be determined whether a milled milling track 42 is already arranged next to the milling track to be milled.
  • the measurements of the measuring device which is arranged on the side where the already milled milling track 42 is arranged, are no longer used.
  • a third measuring device 34 is then used.
  • the measurements of the measuring device 30 are replaced by the measurements of the measuring device 34, which is arranged on the scraper 8.
  • the already milled milling track 42 is arranged on the side of the second measuring device 32 and not on the side of the first measuring device 30, what is described above also applies to the second measuring device 32.
  • the third measuring device 34 can, for example, measure the transverse inclination of the machine frame 2.
  • the measuring device 34 can have two sensors 34A and 34B, which are arranged next to one another in the direction of travel 26, preferably on the left and right sides of the scraper 8 in the direction of travel 26.
  • the two sensors 34A and 34B can each also measure the distance between the machine frame and the Determine the location of the ground surface.
  • the scraper always rests on the floor covering. In this way, the transverse inclination of the scraper 8 to the machine frame 2 can be measured, whereby the transverse inclination of the machine frame 2 to the floor covering can be determined.
  • the measuring device 32 provided on the left side in the direction of travel and the measuring device 34 measuring the transverse inclination can be used in the second milling operation.
  • the construction machine can, for example, travel a predetermined distance, after which the first milling operation is automatically detected.
  • a specified driving distance can be, for example, 1.5 m.
  • the first and second measuring devices 30, 32 are used again to measure the milling depth.
  • the first and second measuring devices 30, 32 can be used again in the new first milling operation to measure the milling depth.
  • the new changeover can also take place with a time delay or lag.

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Claims (14)

  1. Engin de chantier automoteur (1), en particulier fraiseuse routière ou surface miner, destiné à traiter un revêtement de sol (20), doté
    - d'un rouleau fraiseur (10), lequel est disposé dans un châssis de machine (2), dans lequel le fraisage du revêtement de sol (20) avec le rouleau fraiseur (10) crée une bande de fraisage (42), dans lequel le rouleau fraiseur (10) comporte une première et une deuxième face frontale (11, 13),
    - d'au moins un premier dispositif de mesure (30), lequel est adjacent à la première face frontale (11) du rouleau fraiseur (10) et mesure l'écart du châssis de machine (2) par rapport au revêtement de sol (20) près de la première face frontale (11) du rouleau fraiseur (10),
    - d'au moins un deuxième dispositif de mesure (32), lequel est adjacent à la deuxième face frontale (13) du rouleau fraiseur (10) et mesure l'écart du châssis de machine (2) par rapport au revêtement de sol (20) près de la deuxième face frontale (13) du rouleau fraiseur (10),
    - d'au moins un troisième dispositif de mesure (34), et
    - d'un dispositif de commande (40), lequel est réalisé pour commander la profondeur de fraisage, dans lequel le dispositif de commande (40) détermine la profondeur de fraisage à l'aide de mesures du premier et du deuxième dispositif de mesure (30, 32) dans un premier mode de fraisage,
    caractérisé
    en ce que le dispositif de commande (40) est réalisé de sorte qu'un deuxième mode de fraisage, lors duquel le rouleau fraiseur (10) est appliqué sur une bande de fraisage pas encore fraisée et adjacente à une bande de fraisage déjà fraisée (42), est détectable au moyen du dispositif de commande (40), dans lequel le dispositif de commande (40) est réalisé de sorte que pour autant que le deuxième mode de fraisage soit détecté, des mesures de l'au moins un troisième dispositif de mesure (34) sont utilisées à la place du premier ou du deuxième dispositif de mesure (30, 32) pour la détermination de la profondeur de fraisage,
    dans lequel le dispositif de commande (40) est réalisé pour vérifier si l'engin de chantier (1) reprend le fraisage dans le premier mode de fraisage après le deuxième mode de fraisage, et en ce que le dispositif de commande (40) est réalisé de sorte que, pour autant que la reprise du fraisage dans le premier mode de fraisage soit établie, la détermination de la profondeur de fraisage reprend à l'aide de mesures du premier et du deuxième dispositif de mesure (30, 32), dans lequel le dispositif de commande (40) est, afin d'établir la reprise du fraisage dans le premier mode de fraisage, réalisé pour vérifier la durée et/ou la distance parcourue par l'engin de chantier (1) et à comparer avec une durée et/ou une distance prédéfinie.
  2. Engin de chantier automoteur (1) selon la revendication 1, caractérisé en ce qu'afin de détecter le deuxième mode de fraisage lors duquel le rouleau fraiseur (10) est appliqué sur une bande de fraisage pas encore fraisée et adjacente à une bande de fraisage déjà fraisée (42), le dispositif de commande (40) est réalisé pour évaluer les valeurs mesurées et/ou prédéfinies du premier et/ou du deuxième dispositif de mesure (30, 32).
  3. Engin de chantier automoteur (1) selon la revendication 2, caractérisé en ce qu'afin de détecter le deuxième mode de fraisage, lors duquel le rouleau fraiseur (10) est appliqué sur une bande de fraisage pas encore fraisée et adjacente à une bande de fraisage déjà fraisée, le dispositif de commande (40) est réalisé pour calculer la différence entre les valeurs prédéfinies et les valeurs mesurées du premier et/ou du deuxième dispositif de mesure (30, 32) et pour la comparer à une valeur de référence prédéfinie.
  4. Engin de chantier automoteur (1) selon l'une des revendications 1 à 3, caractérisé en ce que le premier dispositif de mesure (30) comporte au moins deux capteurs (30A, 30B) et le deuxième dispositif de mesure (32) comporte au moins deux capteurs (32A, 32B), lesquels sont respectivement disposés l'un derrière l'autre dans la direction de déplacement, dans lequel, afin de détecter le deuxième mode de fraisage, le dispositif de commande (40) est réalisé pour évaluer les au moins deux capteurs (30A, 30B) du premier dispositif de mesure (30) et/ou les au moins deux capteurs (32A, 32B) du deuxième dispositif de mesure (32).
  5. Engin de chantier automoteur (1) selon l'une des revendications 1 à 4, caractérisé en ce que le dispositif de commande (40) est réalisé pour vérifier à l'aide de données GPS la présence du deuxième mode de fraisage, dans lequel le dispositif de commande (40) est en particulier réalisé pour comparer les données GPS actuelles de l'engin de chantier avec les données GPS des bandes de fraisage déjà fraisées.
  6. Engin de chantier automoteur (1) selon l'une des revendications 1 à 5, caractérisé en ce qu'un capteur de détection de profil est disposé sur le châssis de machine, lequel est réalisé pour détecter le profil de la surface du sol en avant du rouleau fraiseur (10) dans la direction de déplacement, dans lequel le dispositif de commande (40) est réalisé pour établir la présence du deuxième mode de fraisage à l'aide du capteur de détection de profil.
  7. Engin de chantier automoteur (1) selon l'une des revendications 1 à 6, caractérisé en ce qu'une première plaque latérale est disposée sur la première face frontale du rouleau fraiseur (10) comme première protection de bord et une deuxième plaque latérale est disposée sur la deuxième face frontale du rouleau fraiseur (10) comme deuxième protection de bord, dans lequel la première et la deuxième plaque latérale sont respectivement réglables en hauteur par rapport au châssis de machine et appuient respectivement sur le revêtement de sol à côté du rouleau fraiseur, dans lequel l'au moins un premier dispositif de mesure (30) est disposé sur la première plaque latérale et l'au moins un deuxième dispositif de mesure est disposé sur la deuxième plaque latérale, lesquels mesurent le réglage en hauteur respectif de la première et de la deuxième plaque latérale par rapport au châssis de machine.
  8. Engin de chantier automoteur (1) selon l'une des revendications 1 à 7, caractérisé en ce que l'au moins un troisième dispositif de mesure est réalisé pour mesurer l'inclinaison transversale du châssis de machine.
  9. Engin de chantier automoteur (1) selon l'une des revendications 1 à 8, caractérisé en ce que l'au moins un troisième dispositif de mesure est disposé sur un racleur, lequel est disposé en arrière du rouleau fraiseur (10) dans la direction de déplacement, est réglable en hauteur et appuie sur la surface du sol derrière le rouleau fraiseur (10).
  10. Engin de chantier automoteur (1) selon la revendication 9, caractérisé en ce que le troisième dispositif de mesure comporte au moins deux capteurs, lesquels sont disposés sur le racleur, lesquels sont disposés l'un à côté de l'autre dans un plan orthogonal à la direction de déplacement.
  11. Engin de chantier automoteur (1) selon l'une des revendications 1 à 10, caractérisé en ce que le dispositif de commande (40) est réalisé de sorte que pour autant que le dispositif de commande (40) détecte le deuxième mode de fraisage, le dispositif de commande (40) vérifie si c'est le premier ou le deuxième dispositif de mesure qui est disposé le plus près de la bande de fraisage déjà fraisée puis, dans le deuxième mode de fraisage afin de déterminer la profondeur de fraisage, utilise les mesures du troisième dispositif de mesure et du dispositif de mesure qui est disposé le plus loin de la bande de fraisage déjà fraisée.
  12. Procédé de traitement de revêtements de sol avec un engin de chantier automoteur, en particulier une fraiseuse routière ou un surface miner, lors duquel un rouleau fraiseur (10) fraise une bande de fraisage lors du fraisage du revêtement de sol, dans lequel au moins un premier dispositif de mesure (30) est disposé comme adjacent à une première face frontale du rouleau fraiseur (10) et au moins un deuxième dispositif de mesure (32) est disposé comme adjacent à une deuxième face frontale du rouleau fraiseur (10), lesquels mesurent l'écart du châssis de machine (2) par rapport au revêtement de sol respectivement près de la première face frontale et de la deuxième face frontale du rouleau fraiseur (10),
    dans lequel la profondeur de fraisage est déterminée dans un premier mode de fraisage à l'aide de mesures du premier et du deuxième dispositif de mesure (30, 32), caractérisé
    en ce qu'un deuxième mode de fraisage peut être détecté au moyen du dispositif de commande (40), lors duquel le rouleau fraiseur (10) est appliqué sur une bande de fraisage pas encore fraisée et adjacente à une bande de fraisage déjà fraisée (42),
    dans lequel pour autant que le deuxième mode de fraisage soit détecté, au moins des mesures d'au moins un troisième dispositif de mesure (34) sont utilisées à la place du premier ou du deuxième dispositif de mesure (30, 32) pour la détermination de la profondeur de fraisage, dans lequel il est vérifié si l'engin de chantier (1) reprend le fraisage dans le premier mode de fraisage après le deuxième mode de fraisage, et en ce que, pour autant que la reprise du fraisage dans le premier mode de fraisage soit établie au moyen du dispositif de commande (40), la détermination de la profondeur de fraisage reprend à l'aide de mesures du premier et du deuxième dispositif de mesure (30, 32), dans lequel, afin d'établir la reprise du fraisage dans le premier mode de fraisage, la durée et/ou la distance parcourue par l'engin de chantier (1) sont vérifiées et comparées avec une durée et/ou une distance prédéfinie.
  13. Procédé selon la revendication 12, caractérisé en ce qu'afin de détecter le deuxième mode de fraisage lors duquel le rouleau fraiseur (10) est appliqué sur une bande de fraisage pas encore fraisée et adjacente à une bande de fraisage déjà fraisée (42), les valeurs mesurées et/ou prédéfinies du premier et/ou du deuxième dispositif de mesure (30, 32) sont évaluées.
  14. Procédé selon la revendication 12 ou 13, caractérisé en ce qu'afin de détecter le deuxième mode de fraisage, lors duquel le rouleau fraiseur (10) est appliqué sur une bande de fraisage pas encore fraisée et adjacente à une bande de fraisage déjà fraisée (42), la différence entre les valeurs prédéfinies et les valeurs mesurées du premier et/ou du deuxième dispositif de mesure (30, 32) est calculée et comparée à une valeur de référence prédéfinie.
EP19204232.3A 2018-12-21 2019-10-21 Engin de construction autonome et procédé d'usinage d'un revêtement de sol Active EP3670747B1 (fr)

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DE102018222875A1 (de) 2018-12-21 2020-06-25 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Bearbeiten eines Bodenbelags
DE102020003044A1 (de) * 2020-05-20 2021-11-25 Bomag Gmbh Baumaschine und verfahren zur erhöhung der standsicherheit einer baumaschine

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DE59201413D1 (de) 1991-11-15 1995-03-23 Moba Electronic Mobil Automat Ultraschall-Regeleinrichtung für ein fahrbares Fräsegerät.
IT1315336B1 (it) * 2000-05-11 2003-02-10 Bitelli Spa Metodo per la gestione integrata dei parametri relativi alla fresaturadi superfici stradali e macchina scarificatrice realizzante tale
DE102006020293B4 (de) * 2006-04-27 2013-07-11 Wirtgen Gmbh Straßenbaumaschine, Nivelliereinrichtung sowie Verfahren zum Regeln der Frästiefe oder Fräsneigung bei einer Straßenbaumaschine
DE102006062129B4 (de) 2006-12-22 2010-08-05 Wirtgen Gmbh Straßenbaumaschine sowie Verfahren zur Messung der Frästiefe
DE102007044090A1 (de) * 2007-09-14 2009-04-09 Wirtgen Gmbh Straßenfräsmaschine oder Maschine zur Ausbeutung von Lagerstätten
US8794867B2 (en) * 2011-05-26 2014-08-05 Trimble Navigation Limited Asphalt milling machine control and method
CN102535319A (zh) 2012-02-22 2012-07-04 中联重科股份有限公司 铣刨机深度监控方法及系统
US9121146B2 (en) * 2012-10-08 2015-09-01 Wirtgen Gmbh Determining milled volume or milled area of a milled surface
DE102012020655A1 (de) * 2012-10-19 2014-04-24 Wirtgen Gmbh Selbstfahrende Baumaschine
CN203049438U (zh) 2013-01-18 2013-07-10 徐州徐工筑路机械有限公司 小型铣刨机自动找平系统
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US20220025590A1 (en) 2022-01-27
US11105052B2 (en) 2021-08-31
CN111350120A (zh) 2020-06-30
EP4345212A3 (fr) 2024-05-29
DE102018222875A1 (de) 2020-06-25
EP4345212A2 (fr) 2024-04-03
EP3670747C0 (fr) 2023-12-06
CN111350120B (zh) 2022-05-17
CN212000543U (zh) 2020-11-24
EP3670747A1 (fr) 2020-06-24

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